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package edu.wpi.first.wpilibj.templates.commands;

import edu.wpi.first.wpilibj.templates.subsystems.DifferentialSubsystem;

/**
 *
 * @author Jarrod Risley
 */
public class ActivateShifter extends CommandBase {
    
    /*
     * Global Class Variables
     */
    DifferentialSubsystem.DifferentialState commandedState;
    
    public ActivateShifter(DifferentialSubsystem.DifferentialState state) {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        
        requires(gearShifters);
        
        commandedState = state;
        
    } // end ActivateShifter

    // Called just before this Command runs the first time
    protected void initialize() {
        
        if (commandedState == gearShifters.getDifferentialState())
            end();
        
    } // end initialize

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        gearShifters.setDifferentialState(commandedState);
    } // end execute

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        
        if (commandedState == gearShifters.getDifferentialState()) {
            return true;
        } // end if
        
        return false;
        
    } // end isFinished 

    // Called once after isFinished returns true
    protected void end() {
        
        System.out.println("Shifters set to " 
                + gearShifters.toString());
        
    } // end end...lolz

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    } // end interrupted
    
} // end ActivateShifter
